| 基于混合整数线性规划无人机实时航迹规划 |
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| 引用本文： | 田雪涛,席庆彪.基于混合整数线性规划无人机实时航迹规划[J].计算机仿真,2009,26(5). |
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| 作者姓名： | 田雪涛 席庆彪 |
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| 作者单位： | 西北工业大学自动化学院,陕西,西安,710072 |
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| 摘 要： | 为了解决无人机实时航迹规划问题,特别足带动力学约束条件的实时航迹规划问题,给出了基于混合整数线性规划技术在模型预测控制框架下进行无人机实时航迹规划的方法.通过将威胁区、速度、加速度以及威胁规避等约束条件转化为能够直接应用在MILP中的形式,并结合模型预测控制方法来进行规划以满足实时性要求.在威胁区的规避上,使用了二进制变量进行逻辑判断,同时,利用松弛变量的方法将威胁规避条件转变为线性形式;在速度、加速度约束条件上,使用单位圆将其约束在圆内以满足速度约束的限制.最后根据仿真计算的验证和分析,得出基于混合整数线性规划的无人机实时航迹规划的有效性.
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| 关 键 词： | 无人机 实时航迹规划 混合整数线性规划 |
Real Time Path Planning of UAVs Using MILP |
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| TIAN Xue-tao,XI Qing-biao.Real Time Path Planning of UAVs Using MILP[J].Computer Simulation,2009,26(5). |
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| Authors: | TIAN Xue-tao XI Qing-biao |
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| Affiliation: | School of Automation;Northwestern Polytechnical University;Xi'an Shanxi 710072;China |
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| Abstract: | A method is presented for the UAV's real-time path planning,it is MPC/RHC(Model Predictive Control/Receding Horizon Control) based on Mixed Integer Linear Programming(MILP) techniques.Transforming the constraints of risk areas,velocity,acceleration and collisions etc,into forms directly adapted to MILP,and using the approach of MPC/RHC,the real time requirement will be met.The risk areas avoidance is modelled by binary variables to make logical decisions.Various constraints are formulated to avoid risk zone... |
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